rgbdSensor_nws_ros
: A Network grabber for kinect-like devices. This device will produce two streams of data through different ports, one for the color frame and the other one for depth image following Framegrabber and IDepthSensor interfaces specification respectively. See they documentation for more details about each interface.
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Public Member Functions | |
RgbdSensor_nws_ros () | |
RgbdSensor_nws_ros (const RgbdSensor_nws_ros &)=delete | |
RgbdSensor_nws_ros (RgbdSensor_nws_ros &&)=delete | |
RgbdSensor_nws_ros & | operator= (const RgbdSensor_nws_ros &)=delete |
RgbdSensor_nws_ros & | operator= (RgbdSensor_nws_ros &&)=delete |
~RgbdSensor_nws_ros () override | |
bool | open (yarp::os::Searchable ¶ms) override |
Device driver interface. | |
bool | close () override |
Close the DeviceDriver. | |
bool | attach (yarp::dev::PolyDriver *poly) override |
Specify which sensor this thread has to read from. | |
bool | detach () override |
WrapperSingle interface. | |
bool | threadInit () override |
Initialization method. | |
void | threadRelease () override |
Release method. | |
void | run () override |
Loop function. | |
Public Member Functions inherited from yarp::dev::DeviceDriver | |
DeviceDriver () | |
DeviceDriver (const DeviceDriver &other)=delete | |
DeviceDriver (DeviceDriver &&other) noexcept=delete | |
DeviceDriver & | operator= (const DeviceDriver &other)=delete |
DeviceDriver & | operator= (DeviceDriver &&other) noexcept=delete |
virtual | ~DeviceDriver () |
virtual std::string | id () const |
Return the id assigned to the PolyDriver. | |
virtual void | setId (const std::string &id) |
Set the id for this device. | |
template<class T > | |
bool | view (T *&x) |
Get an interface to the device driver. | |
virtual DeviceDriver * | getImplementation () |
Some drivers are bureaucrats, pointing at others. | |
Public Member Functions inherited from yarp::dev::WrapperSingle | |
~WrapperSingle () override | |
Destructor. | |
bool | attachAll (const yarp::dev::PolyDriverList &drivers) final |
Attach to a list of objects. | |
bool | detachAll () final |
Detach the object (you must have first called attach). | |
Public Member Functions inherited from yarp::dev::IWrapper | |
virtual | ~IWrapper () |
Destructor. | |
Public Member Functions inherited from yarp::dev::IMultipleWrapper | |
virtual | ~IMultipleWrapper () |
Destructor. | |
Public Member Functions inherited from yarp::os::PeriodicThread | |
PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative) | |
Constructor. | |
PeriodicThread (double period, PeriodicThreadClock clockAccuracy) | |
Constructor. | |
virtual | ~PeriodicThread () |
bool | start () |
Call this to start the thread. | |
void | step () |
Call this to "step" the thread rather than starting it. | |
void | stop () |
Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). | |
void | askToStop () |
Stop the thread. | |
bool | isRunning () const |
Returns true when the thread is started, false otherwise. | |
bool | isSuspended () const |
Returns true when the thread is suspended, false otherwise. | |
bool | setPeriod (double period) |
Set the (new) period of the thread. | |
double | getPeriod () const |
Return the current period of the thread. | |
void | suspend () |
Suspend the thread, the thread keeps running by doLoop is never executed. | |
void | resume () |
Resume the thread if previously suspended. | |
void | resetStat () |
Reset thread statistics. | |
double | getEstimatedPeriod () const |
Return estimated period since last reset. | |
void | getEstimatedPeriod (double &av, double &std) const |
Return estimated period since last reset. | |
unsigned int | getIterations () const |
Return the number of iterations performed since last reset. | |
double | getEstimatedUsed () const |
Return the estimated duration of the run() function since last reset. | |
void | getEstimatedUsed (double &av, double &std) const |
Return estimated duration of the run() function since last reset. | |
int | setPriority (int priority, int policy=-1) |
Set the priority and scheduling policy of the thread, if the OS supports that. | |
int | getPriority () const |
Query the current priority of the thread, if the OS supports that. | |
int | getPolicy () const |
Query the current scheduling policy of the thread, if the OS supports that. | |
Additional Inherited Members | |
Protected Member Functions inherited from yarp::os::PeriodicThread | |
virtual void | beforeStart () |
Called just before a new thread starts. | |
virtual void | afterStart (bool success) |
Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). | |
rgbdSensor_nws_ros
: A Network grabber for kinect-like devices. This device will produce two streams of data through different ports, one for the color frame and the other one for depth image following Framegrabber and IDepthSensor interfaces specification respectively. See they documentation for more details about each interface.
This device is paired with its client called RgbdSensor_nws_ros to receive the data streams.
Parameters required by this device are:
Parameter name | SubParameter | Type | Units | Default Value | Required | Description | Notes |
---|---|---|---|---|---|---|---|
period | - | double | s | 0.03 | No | refresh period of the broadcasted values in s | default 0.03s |
forceInfoSync | - | string | bool | - | no | set 'true' to force the timestamp on the camera_info message to match the image one | - |
color_topic_name | - | string | - | - | Yes | the color topic | recommended value /camera/color/image_rect_color |
depth_topic_name | - | string | - | - | Yes | the depth topic | recommended value /camera/depth/image_rect |
color_frame_id | - | string | - | - | Yes | set the name of the reference frame for the color camera | |
depth_frame_id | - | string | - | - | Yes | set the name of the reference frame for the depth camera | |
node_name | - | string | - | - | Yes | set the name for ROS node | must start with a leading '/' |
ROS message type used is sensor_msgs/Image.msg ( http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) Some example of configuration files:
Example of configuration file using .ini format.
Definition at line 87 of file RgbdSensor_nws_ros.h.
RgbdSensor_nws_ros::RgbdSensor_nws_ros | ( | ) |
Definition at line 27 of file RgbdSensor_nws_ros.cpp.
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delete |
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delete |
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override |
Definition at line 39 of file RgbdSensor_nws_ros.cpp.
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overridevirtual |
Specify which sensor this thread has to read from.
Implements yarp::dev::IWrapper.
Definition at line 191 of file RgbdSensor_nws_ros.cpp.
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overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 80 of file RgbdSensor_nws_ros.cpp.
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overridevirtual |
WrapperSingle interface.
Implements yarp::dev::IWrapper.
Definition at line 181 of file RgbdSensor_nws_ros.cpp.
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overridevirtual |
Device driver interface.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 48 of file RgbdSensor_nws_ros.cpp.
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delete |
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delete |
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overridevirtual |
Loop function.
This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.
Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.
Implements yarp::os::PeriodicThread.
Definition at line 417 of file RgbdSensor_nws_ros.cpp.
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overridevirtual |
Initialization method.
The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.
Reimplemented from yarp::os::PeriodicThread.
Definition at line 216 of file RgbdSensor_nws_ros.cpp.
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overridevirtual |
Release method.
The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).
Reimplemented from yarp::os::PeriodicThread.
Definition at line 222 of file RgbdSensor_nws_ros.cpp.